651 lines
19 KiB
Markdown
651 lines
19 KiB
Markdown
# XRoboToolkit 手柄输入扩展 Implementation Plan
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> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking.
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**Goal:** 将 XRoboToolkit 左右手柄摇杆、主键和副键加入现有 `XrController` 链路，同时保持 Grip、Trigger、位姿和遥操作行为不变。
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**Architecture:** 直接扩展现有 ROS2 消息，继续使用当前 bridge 的嵌套 UDP `buttons` 结构，由 receiver 将按钮展平到消息字段。新增字段按可选输入解析，旧数据包或非法新增字段回退到安全默认值，不新增话题、依赖或控制分支。
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**Tech Stack:** Ubuntu 22.04、ROS2 Humble、Python 3.10、ament/colcon、pytest、XRoboToolkit PC-Service Python binding。
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## Global Constraints
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- 所有构建、测试和运行命令在 `/home/robot/WS_xr` 执行，并先运行 `source /opt/ros/humble/setup.bash`。
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- `XrController.msg` 的字段和顺序必须与批准的设计完全一致，不增加菜单键、摇杆按键、模拟 Grip/Trigger、SDK 时间戳或序号。
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- 保持现有 `grip`、`trigger`、`pose` 语义及控制行为不变。
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- 不新增依赖、ROS2 话题、节点或 LeRobot 录制实现。
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- 不修改 `xr_rm_teleop` 控制代码、机械臂 YAML、安全限位、超时或停止逻辑。
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- 启动验证只使用 `use_mock:=true`，不得连接真机、移动机械臂或操作夹爪。
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- 新增和修改的 Markdown 文档使用中文。
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- Superpowers 工作流只允许创建本地 Git 提交；禁止 push、合并本地分支、合并 PR 或执行任何远程写操作。
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- 每次提交只暂存当前任务列出的文件，不包含用户的其他工作区改动。
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---
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### Task 1: 扩展 `XrController` 消息接口
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**Files:**
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- Modify: `src/xr_rm_interfaces/msg/XrController.msg`
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**Interfaces:**
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- Consumes: 现有 `std_msgs/Header`、`geometry_msgs/Pose` 和 `hand/grip/trigger/pose` 字段。
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- Produces: `XrController.primary: bool`、`secondary: bool`、`axis: float32[2]`，供 Task 2 的 receiver 赋值。
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- [ ] **Step 1: 记录旧接口缺少新增字段**
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在工作空间根目录执行：
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```bash
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cd /home/robot/WS_xr
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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python3 - <<'PY'
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from xr_rm_interfaces.msg import XrController
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expected = [
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"header",
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"hand",
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"grip",
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"trigger",
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"primary",
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"secondary",
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"axis",
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"pose",
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]
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actual = list(XrController.get_fields_and_field_types())
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assert actual == expected, actual
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PY
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```
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Expected: FAIL；旧接口输出
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`['header', 'hand', 'grip', 'trigger', 'pose']`。
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- [ ] **Step 2: 用批准的顺序修改消息定义**
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将 `src/xr_rm_interfaces/msg/XrController.msg` 完整替换为：
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```text
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std_msgs/Header header
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string hand
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bool grip
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float32 trigger
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bool primary
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bool secondary
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float32[2] axis
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geometry_msgs/Pose pose
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```
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- [ ] **Step 3: 构建消息包**
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```bash
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cd /home/robot/WS_xr
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source /opt/ros/humble/setup.bash
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colcon build --symlink-install --packages-select xr_rm_interfaces
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```
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Expected: `xr_rm_interfaces` 构建成功，无 rosidl 错误。
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- [ ] **Step 4: 验证生成接口字段和顺序**
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```bash
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cd /home/robot/WS_xr
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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python3 - <<'PY'
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from xr_rm_interfaces.msg import XrController
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expected = [
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"header",
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"hand",
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"grip",
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"trigger",
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"primary",
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"secondary",
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"axis",
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"pose",
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]
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actual = list(XrController.get_fields_and_field_types())
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assert actual == expected, actual
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assert XrController.get_fields_and_field_types()["axis"] == "float[2]"
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PY
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```
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Expected: PASS，无输出。
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- [ ] **Step 5: 提交消息接口**
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```bash
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cd /home/robot/WS_xr/src
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git add xr_rm_interfaces/msg/XrController.msg
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git commit -m "feat: 扩展 XR 手柄消息"
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```
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Expected: 只提交 `XrController.msg`；不执行 push 或 merge。
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---
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### Task 2: 透传摇杆与主副按键
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**Files:**
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- Create: `src/xr_rm_input/test/test_controller_fields.py`
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- Modify: `src/xr_rm_input/xr_rm_input/xrobotoolkit_to_udp_bridge.py`
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- Modify: `src/xr_rm_input/xr_rm_input/udp_controller_receiver.py`
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**Interfaces:**
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- Consumes: Task 1 生成的 `XrController.primary`、`secondary`、`axis`。
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- Produces:
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- `_buttons_payload(*, primary: Callable[[], Any], secondary: Callable[[], Any]) -> dict[str, bool]`
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- `_controller_payload(*, hand: str, pose: Any, axis: Any, buttons: dict[str, bool], grip_pressed: bool, trigger_pressed: bool, pose_valid: bool = True) -> dict[str, Any]`
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- `UdpControllerReceiver._optional_axis(value: Any) -> list[float]`
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- `UdpControllerReceiver._optional_buttons(value: Any) -> tuple[bool, bool]`
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- [ ] **Step 1: 新增失败测试**
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创建 `src/xr_rm_input/test/test_controller_fields.py`：
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```python
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import math
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from types import SimpleNamespace
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from builtin_interfaces.msg import Time
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from xr_rm_input.udp_controller_receiver import UdpControllerReceiver
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from xr_rm_input.xrobotoolkit_to_udp_bridge import (
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_buttons_payload,
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_controller_payload,
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_stop_controller_payload,
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)
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def _receiver_without_socket() -> UdpControllerReceiver:
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receiver = object.__new__(UdpControllerReceiver)
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receiver._quat_order = "xyzw"
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receiver.get_clock = lambda: SimpleNamespace(
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now=lambda: SimpleNamespace(to_msg=lambda: Time())
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)
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return receiver
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def test_bridge_payload_contains_only_selected_controller_inputs() -> None:
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buttons = _buttons_payload(
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primary=lambda: True,
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secondary=lambda: False,
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)
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payload = _controller_payload(
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hand="left",
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pose=[1.0, 2.0, 3.0, 0.0, 0.0, 0.0, 1.0],
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axis=[2.0, -2.0],
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buttons=buttons,
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grip_pressed=True,
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trigger_pressed=False,
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)
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assert payload == {
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"hand": "left",
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"grip": True,
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"trigger": 0.0,
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"pos": [1.0, 2.0, 3.0],
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"quat": [0.0, 0.0, 0.0, 1.0],
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"pose_valid": True,
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"pose_source": "xrobotoolkit",
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"axis": [1.0, -1.0],
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"buttons": {
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"primary": True,
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"secondary": False,
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},
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}
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def test_stop_payload_uses_neutral_selected_inputs() -> None:
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payload = _stop_controller_payload("right")
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assert payload["axis"] == [0.0, 0.0]
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assert payload["buttons"] == {
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"primary": False,
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"secondary": False,
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}
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assert "grip_value" not in payload
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assert "trigger_value" not in payload
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def test_receiver_publishes_selected_controller_inputs() -> None:
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msg = _receiver_without_socket()._payload_to_msg(
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{
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"grip": True,
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"trigger": 1.0,
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"axis": [2.0, -2.0],
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"buttons": {
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"primary": True,
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"secondary": False,
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},
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"pos": [1.0, 2.0, 3.0],
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"quat": [0.0, 0.0, 0.0, 1.0],
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},
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"left",
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)
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assert msg.primary is True
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assert msg.secondary is False
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assert list(msg.axis) == [1.0, -1.0]
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def test_receiver_defaults_invalid_optional_inputs() -> None:
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msg = _receiver_without_socket()._payload_to_msg(
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{
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"grip": True,
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"trigger": 0.4,
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"axis": [math.nan, 0.0],
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"buttons": [],
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"pos": [1.0, 2.0, 3.0],
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"quat": [0.0, 0.0, 0.0, 1.0],
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},
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"right",
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)
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assert msg.primary is False
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assert msg.secondary is False
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assert list(msg.axis) == [0.0, 0.0]
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assert msg.grip is True
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assert abs(msg.trigger - 0.4) < 1e-6
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assert msg.pose.position.x == 1.0
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assert msg.pose.position.y == 2.0
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assert msg.pose.position.z == 3.0
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def test_receiver_defaults_missing_legacy_optional_inputs() -> None:
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msg = _receiver_without_socket()._payload_to_msg(
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{
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"grip": True,
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"trigger": 0.0,
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"pos": [0.0, 1.0, 0.0],
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"quat": [0.0, 0.0, 0.0, 1.0],
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},
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"left",
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)
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assert msg.primary is False
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assert msg.secondary is False
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assert list(msg.axis) == [0.0, 0.0]
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assert msg.grip is True
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```
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- [ ] **Step 2: 运行测试并确认失败**
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```bash
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cd /home/robot/WS_xr
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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pytest src/xr_rm_input/test/test_controller_fields.py -v
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```
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Expected: FAIL；旧 `_buttons_payload` 仍要求 `grip/menu/axis_click`，且 receiver
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尚无 `_optional_axis` 和 `_optional_buttons`。
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- [ ] **Step 3: 精简 bridge payload**
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在 `xrobotoolkit_to_udp_bridge.py` 中将 `_controller_payload` 改为：
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```python
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def _controller_payload(
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*,
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hand: str,
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pose: Any,
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axis: Any,
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buttons: dict[str, bool],
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grip_pressed: bool,
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trigger_pressed: bool,
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pose_valid: bool = True,
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) -> dict[str, Any]:
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pos, quat = (
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_pose_to_pos_quat(pose)
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if pose_valid
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else (ZERO_POS.copy(), IDENTITY_QUAT.copy())
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)
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return {
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"hand": hand,
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"grip": pose_valid and grip_pressed,
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"trigger": 1.0 if pose_valid and trigger_pressed else 0.0,
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"pos": pos,
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"quat": quat,
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"pose_valid": pose_valid,
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"pose_source": POSE_SOURCE,
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"axis": _safe_axis(axis),
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"buttons": buttons,
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}
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```
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将 `_stop_controller_payload` 的输入部分改为：
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```python
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"axis": [0.0, 0.0],
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"buttons": {
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"primary": False,
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"secondary": False,
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},
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```
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并删除 `grip_value`、`trigger_value`、`buttons.grip`、`buttons.menu` 和
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`buttons.axis_click` 输出。
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将 `_buttons_payload` 改为：
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```python
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def _buttons_payload(
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*,
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primary: Callable[[], Any],
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secondary: Callable[[], Any],
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) -> dict[str, bool]:
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return {
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"primary": _safe_bool(primary),
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"secondary": _safe_bool(secondary),
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}
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```
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修改主循环的左手调用：
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```python
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"left": _controller_payload(
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hand="left",
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pose=xrt.get_left_controller_pose(),
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axis=xrt.get_left_axis(),
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buttons=_buttons_payload(
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primary=xrt.get_X_button,
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secondary=xrt.get_Y_button,
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),
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grip_pressed=left_grip,
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trigger_pressed=left_trigger,
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),
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```
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修改主循环的右手调用：
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```python
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"right": _controller_payload(
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hand="right",
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pose=xrt.get_right_controller_pose(),
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axis=xrt.get_right_axis(),
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buttons=_buttons_payload(
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primary=xrt.get_A_button,
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secondary=xrt.get_B_button,
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),
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grip_pressed=right_grip,
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trigger_pressed=right_trigger,
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),
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```
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保留主循环中 `get_left/right_grip()`、`get_left/right_trigger()` 和现有滞回
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开关；仅从 `_controller_payload` 参数及 UDP 输出中删除原始模拟量。
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- [ ] **Step 4: 为 receiver 增加容错解析**
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在 `udp_controller_receiver.py` 导入区增加：
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```python
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import math
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```
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在 `_payload_to_msg` 中读取新增可选字段：
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```python
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axis = self._optional_axis(payload.get("axis"))
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primary, secondary = self._optional_buttons(payload.get("buttons"))
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```
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在现有 `msg.grip` 和 `msg.trigger` 赋值后加入：
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```python
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msg.primary = primary
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msg.secondary = secondary
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msg.axis = axis
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```
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在 `_vector3` 附近增加两个无状态解析方法：
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```python
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@staticmethod
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def _optional_axis(value: Any) -> list[float]:
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try:
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axis = [float(item) for item in value]
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except (TypeError, ValueError):
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return [0.0, 0.0]
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if len(axis) != 2 or not all(math.isfinite(item) for item in axis):
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return [0.0, 0.0]
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return [
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min(max(axis[0], -1.0), 1.0),
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min(max(axis[1], -1.0), 1.0),
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]
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@classmethod
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def _optional_buttons(cls, value: Any) -> tuple[bool, bool]:
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if not isinstance(value, Mapping):
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return False, False
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return (
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cls._as_bool(value.get("primary", False)),
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cls._as_bool(value.get("secondary", False)),
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)
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```
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不要把新增字段加入现有 pose 诊断条件；它们无效时不得改变 `grip`。
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- [ ] **Step 5: 运行新增测试**
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```bash
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cd /home/robot/WS_xr
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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pytest src/xr_rm_input/test/test_controller_fields.py -v
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```
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Expected: `5 passed`。
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- [ ] **Step 6: 运行 Python 语法检查**
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```bash
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cd /home/robot/WS_xr
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python3 -m py_compile \
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src/xr_rm_input/xr_rm_input/xrobotoolkit_to_udp_bridge.py \
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src/xr_rm_input/xr_rm_input/udp_controller_receiver.py \
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src/xr_rm_input/test/test_controller_fields.py
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```
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Expected: PASS，无输出。
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- [ ] **Step 7: 提交 bridge、receiver 和测试**
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```bash
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cd /home/robot/WS_xr/src
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git add \
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xr_rm_input/xr_rm_input/xrobotoolkit_to_udp_bridge.py \
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xr_rm_input/xr_rm_input/udp_controller_receiver.py \
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xr_rm_input/test/test_controller_fields.py
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git commit -m "feat: 发布 XR 手柄摇杆与按键"
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```
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Expected: 只提交列出的三个文件；不执行 push 或 merge。
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---
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### Task 3: 更新文档并完成工作空间验证
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**Files:**
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- Modify: `src/README.md`
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- Modify: `src/AGENTS.md`
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**Interfaces:**
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- Consumes: Task 1 的最终 `XrController` 格式和 Task 2 的 UDP JSON。
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- Produces: 当前手柄接口说明，以及对后续 Superpowers 任务生效的本地 Git 边界。
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- [ ] **Step 1: 更新 README 的 Git 约束**
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在 README 的环境准备之前增加：
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```markdown
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## Superpowers Git 约束
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使用 Superpowers 执行任务时，只允许按 skill 工作流创建本地 Git 提交。
|
||
禁止执行 `git push`、合并本地分支、合并 PR 或其他远程写操作。skill 如需
|
||
独立 worktree 或配套本地分支，可以创建，但不得将其合并到其他分支。
|
||
```
|
||
|
||
- [ ] **Step 2: 更新 README 的当前 UDP 示例**
|
||
|
||
先修正 README 顶部的当前范围和项目结构：
|
||
|
||
- 将“自定义 PICO 4 Ultra UDP Sender Unity 工程”完成项替换为
|
||
“XRoboToolkit bridge 读取左右手柄 pose、Grip、Trigger、摇杆和主副按键”。
|
||
- 从项目结构树删除当前仓库中不存在的
|
||
`docs/pico_udp_sender_ubuntu22_setup.md` 和整个 `unity/` 子树。
|
||
- 保留官方 XRoboToolkit APK、PC-Service、`PXREAClientUnity` 和
|
||
`RobotLinuxDemo` 的运行说明；这些是外部工具，不是仓库内已删除的 Unity 工程。
|
||
|
||
将“UDP 数据格式”开头改为“当前 XRoboToolkit bridge 每个周期发送一个双手柄
|
||
JSON 包”，并将示例替换为：
|
||
|
||
```json
|
||
{
|
||
"t": 12.345,
|
||
"source_time": 12.345,
|
||
"seq": 42,
|
||
"frame_id": "xr_world",
|
||
"controllers": {
|
||
"left": {
|
||
"hand": "left",
|
||
"grip": true,
|
||
"trigger": 0.0,
|
||
"axis": [0.2, -0.4],
|
||
"buttons": {
|
||
"primary": true,
|
||
"secondary": false
|
||
},
|
||
"pos": [-0.12, 1.05, 0.30],
|
||
"quat": [0.0, 0.0, 0.0, 1.0],
|
||
"pose_valid": true,
|
||
"pose_source": "xrobotoolkit"
|
||
},
|
||
"right": {
|
||
"hand": "right",
|
||
"grip": true,
|
||
"trigger": 1.0,
|
||
"axis": [-0.1, 0.3],
|
||
"buttons": {
|
||
"primary": false,
|
||
"secondary": true
|
||
},
|
||
"pos": [0.12, 1.05, 0.30],
|
||
"quat": [0.0, 0.0, 0.0, 1.0],
|
||
"pose_valid": true,
|
||
"pose_source": "xrobotoolkit"
|
||
}
|
||
}
|
||
}
|
||
```
|
||
|
||
字段说明更新为：
|
||
|
||
```markdown
|
||
- `t` / `source_time`：bridge 的 PC 单调时间，用于诊断发送周期。
|
||
- `seq`：bridge 递增的 UDP 包序号，bridge 重启后重新计数。
|
||
- `frame_id`：默认 `xr_world`，会写入 `XrController.header.frame_id`。
|
||
- `grip`：运动使能。`true` 时进入相对位姿控制，`false` 时停止。
|
||
- `trigger`：经过 bridge 滞回处理的 `0.0/1.0` 值；上升沿切换对应夹爪状态。
|
||
- `axis`：摇杆 `[x, y]`，每个分量限制在 `-1.0` 到 `1.0`。
|
||
- `buttons.primary`：左手 X 键或右手 A 键。
|
||
- `buttons.secondary`：左手 Y 键或右手 B 键。
|
||
- `pos`：手柄位置，长度 3。
|
||
- `quat`：手柄姿态四元数，默认按 `xyzw` 解析。
|
||
- `pose_valid`：姿态是否可信；`false` 时接收端强制 `grip=false`。
|
||
- `pose_source`：当前 bridge 使用 `xrobotoolkit`。
|
||
```
|
||
|
||
补充说明：`axis`、`buttons.primary` 和 `buttons.secondary` 会进入
|
||
`XrController`；旧 UDP 包缺少这些字段时分别回退为 `[0,0]`、`false` 和
|
||
`false`。删除已经不存在的自定义 Unity 工程和安装文档链接，但保留 receiver
|
||
对旧格式字段的兼容说明。
|
||
|
||
将故障排查中的旧 Unity HUD 提示替换为：
|
||
|
||
```markdown
|
||
- 确认 `xrobotoolkit_to_udp_bridge` 没有持续打印 SDK read failed；SDK
|
||
读取失败时 bridge 会发送 `pose_valid=false` 的停止包。
|
||
```
|
||
|
||
- [ ] **Step 3: 更新 AGENTS 的 Superpowers Git 规则**
|
||
|
||
将 AGENTS“Git 与提交”中的 Superpowers 段落改为：
|
||
|
||
```markdown
|
||
使用 Superpowers 执行任务时，只允许按相关 skill 工作流创建本地 Git 提交；
|
||
禁止执行 `git push`、合并本地分支、合并 PR 或其他远程写操作。相关 skill
|
||
如需独立 worktree 或配套本地分支，可以创建，但不得将其合并到其他分支。
|
||
其他情况下，除非用户明确要求，不要自动创建分支。
|
||
```
|
||
|
||
- [ ] **Step 4: 运行输入包测试**
|
||
|
||
```bash
|
||
cd /home/robot/WS_xr
|
||
source /opt/ros/humble/setup.bash
|
||
source install/setup.bash
|
||
pytest src/xr_rm_input/test/test_controller_fields.py -v
|
||
```
|
||
|
||
Expected: `5 passed`。
|
||
|
||
- [ ] **Step 5: 运行完整工作空间构建**
|
||
|
||
```bash
|
||
cd /home/robot/WS_xr
|
||
source /opt/ros/humble/setup.bash
|
||
colcon build --symlink-install
|
||
```
|
||
|
||
Expected: `xr_rm_interfaces`、`xr_rm_input`、`xr_rm_teleop` 和
|
||
`xr_rm_bringup` 全部构建成功。
|
||
|
||
- [ ] **Step 6: 重新 source 后验证接口和遥操作回归**
|
||
|
||
```bash
|
||
cd /home/robot/WS_xr
|
||
source /opt/ros/humble/setup.bash
|
||
source install/setup.bash
|
||
ros2 interface show xr_rm_interfaces/msg/XrController
|
||
pytest src/xr_rm_teleop/test/test_orientation_control.py -v
|
||
```
|
||
|
||
Expected: 接口按 `header/hand/grip/trigger/primary/secondary/axis/pose` 顺序
|
||
显示；姿态控制测试全部通过。
|
||
|
||
- [ ] **Step 7: 使用 mock 验证统一启动入口**
|
||
|
||
```bash
|
||
cd /home/robot/WS_xr
|
||
source /opt/ros/humble/setup.bash
|
||
source install/setup.bash
|
||
timeout --signal=INT 8s ros2 launch xr_rm_bringup arm_debug.launch.py \
|
||
arm:=right use_mock:=true
|
||
```
|
||
|
||
Expected: `udp_controller_receiver` 和 `single_arm_velocity_teleop` 正常启动；
|
||
不出现消息类型、Placo 或 traceback 错误。`timeout` 到期退出属于预期。
|
||
|
||
- [ ] **Step 8: 检查 diff 和格式**
|
||
|
||
```bash
|
||
cd /home/robot/WS_xr/src
|
||
git diff --check
|
||
git status --short
|
||
```
|
||
|
||
Expected: `git diff --check` 无输出；只剩 README、AGENTS 的计划内文档改动。
|
||
|
||
- [ ] **Step 9: 提交文档**
|
||
|
||
```bash
|
||
cd /home/robot/WS_xr/src
|
||
git add README.md AGENTS.md
|
||
git commit -m "docs: 更新手柄输入与 Superpowers 规则"
|
||
```
|
||
|
||
Expected: 只提交 README 和 AGENTS；不执行 push 或 merge。
|